CN117282909A - Intelligent riveting control system and intelligent riveting method based on man-machine cooperation - Google Patents
Intelligent riveting control system and intelligent riveting method based on man-machine cooperation Download PDFInfo
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- CN117282909A CN117282909A CN202311560973.6A CN202311560973A CN117282909A CN 117282909 A CN117282909 A CN 117282909A CN 202311560973 A CN202311560973 A CN 202311560973A CN 117282909 A CN117282909 A CN 117282909A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 522
- 229910052742 iron Inorganic materials 0.000 claims abstract description 261
- 230000002159 abnormal effect Effects 0.000 claims abstract description 38
- 238000004519 manufacturing process Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 60
- 238000004088 simulation Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 210000003128 head Anatomy 0.000 description 14
- 230000015654 memory Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 235000000396 iron Nutrition 0.000 description 2
- 238000013515 script Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Mechanical Engineering (AREA)
- Insertion Pins And Rivets (AREA)
Abstract
The application discloses an intelligent riveting control system and a riveting method based on man-machine cooperation, and relates to the technical field of mechanical engineering. Comprises the steps of manufacturing a first through hole and feeding a rivet; collecting the jacking force applied by the working face of the top iron to the rivet, collecting the distance between the working face of the top iron and the riveting face, and collecting the axis angle of the top iron and the rivet; sending the collected tightening force, distance and angle data to a controller, and analyzing whether the data accords with the riveting requirement range; when one or more data are not in the range of riveting requirement, an abnormal alarm is sent out, and the working surface of the top iron is adjusted; when the data is in the range of the standard database, riveting operation is carried out according to the jacking force matching riveting force, so that an operator does not need to locate one side of the top iron, only needs to adjust according to alarm prompt contents through holding the intelligent top iron, and the top iron and the riveting robot are well used for mutually cooperating under the conditions of narrow and serious shielding to carry out riveting operation.
Description
Technical Field
The application relates to the technical field of mechanical engineering and aircraft assembly, in particular to an intelligent riveting control system and a riveting method based on man-machine cooperation.
Background
The riveting is a main connection mode of aircraft assembly, each step of riveting directly influences the stability of an aircraft skin structure, the assembly quality of the aircraft structure and the service reliability of the aircraft, the quality of riveting molding is mainly influenced by factors such as whether the size of a rivet pier head is qualified or not, the angle between the axis of the rivet and the working face of the top iron tends to be vertical, and when the factors are qualified, the riveting quality can be well ensured.
At present, riveting of an airplane is usually realized by holding a rivet gun at one end and holding a top iron at the other end, the two parts are matched to realize riveting operation, the top iron provides corresponding jacking force and keeps a certain distance from a riveting surface, the top iron is used for controlling the size of a rivet pier head, meanwhile, the working surface of the top iron is kept perpendicular to the axis of the rivet and is used for avoiding the skew of the rivet pier head, in the prior art, patent number is entitled CN 202516998U, the invention name is a multifunctional integrated top iron, and the patent relates to a special-shaped top iron with 15-degree, 30-degree, 45-degree and 60-degree working surfaces, which is used for being matched with manual riveting in a structure with various types of non-openable. The design aims at being used according to a non-open structure, and the height of the rivet pier head and the angle between the top iron working surface and the axis of the rivet during riveting cannot be controlled; in addition, patent number is issued as CN 115302527A, the invention name is a double-robot automatic drilling and riveting device, and the patent relates to a drilling and riveting robot and a top iron robot for matching. During operation bores riveting robot and top riveting robot cooperate, and the pier nose height, the diameter and the position of removable top iron on the terminal support frame of top iron robot are measured, the one end and the cylinder output of interior ejector pin are connected, the other end of ejector pin is installed to removable top iron. The technical proposal of the method does not specifically describe how to control the angle between the working surface of the top iron and the axis of the rivet.
Therefore, according to the analysis of the prior art, the problem that the diameter and the height of the pier head and the included angle between the working surface of the top iron and the axis of the rivet are difficult to ensure in standard state at the same time during riveting still exists at present, and an intelligent riveting control system and a riveting method based on man-machine cooperation are needed, riveting force is applied to a riveting machine from one end, an operator cooperates with the riveting machine at the other end by using an intelligent top iron, data such as the tightening force applied to the rivet, the height of the pier head of the rivet, the angle between the working surface of the top iron and the axis of the rivet and the like are output through the intelligent top iron, and the operation of the operator can be corrected by adjusting the top iron according to the data analysis result, so that riveting forming elements can be met during riveting, and the quality of riveting is ensured to be qualified.
Disclosure of Invention
The invention aims at: according to the intelligent riveting control system and the intelligent riveting control method based on man-machine cooperation, according to the problem that the diameter and the height of a pier head and the included angle between the working surface of a top iron and the axis of a rivet are difficult to be in standard states in the prior art, the impact force of a jacking force and a rivet gun can be measured, and the angle between the working surface of the top iron and the axis of the rivet and the distance between aircraft skins are designed. And these test data are fed back to the controller, adjust the jacking force and position of the top iron through different alarms and make it reach the riveting condition, have greatly improved the riveting qualification rate.
In order to achieve the above object, the present invention provides the following technical solutions:
in a first aspect of the present application, there is provided an intelligent riveting control system based on human-computer cooperation, comprising:
a machine control module: manufacturing a first through hole on a part to be riveted, and feeding rivets into the first through hole;
and a data acquisition module: the intelligent top iron is provided with a pressure detection module and a distance detection module, wherein the pressure detection module is used for collecting the jacking force applied by the working face of the intelligent top iron to the rivet, the distance detection module is used for collecting the distance between the working face of the intelligent top iron and the riveting face, and the distance detection module is used for collecting the angle between the intelligent top iron and the axis of the rivet;
and a communication interaction module: the collected tightening force, distance and angle data are sent to a controller, and the controller analyzes whether the collected data accord with the tightening force, distance and angle range required by riveting at the current position according to a standard database;
an alarm guidance module: when one or more data in the collected tightening force, distance and angle data are not in the range of riveting requirements at the current position, an abnormal alarm is sent out, and the tightening force exerted by the working face of the intelligent top iron on the rivet and/or the distance between the working face of the intelligent top iron and the riveting face and/or the angle between the working face of the intelligent top iron and the axis of the rivet are adjusted according to the abnormal alarm;
And a riveting execution module: and when the tightening force, the distance and the angle data are adjusted to be in the range of the riveting requirement of the current position specified in the standard database, the riveting robot performs riveting operation according to the tightening force applied by the working face of the intelligent top iron to the rivet and matching with the corresponding riveting force.
In an embodiment of the present application, the data acquisition module is provided with a first submodule, and the first submodule is used for establishing a simulation model of a space curved surface corresponding to the riveting surface, and calculating an angle between the working surface of the intelligent top iron and the axis of the rivet according to the simulation model of the space curved surface and the riveting position; the pressure detection module is a pressure sensor arranged on the working surface of the intelligent top iron; the distance detection module is a distance sensor arranged on the intelligent top iron.
In the riveting process of the actual aircraft assembly, when the riveting surface where the riveting position is located is a curved surface, the first sub-module establishes the space curved surface model according to the distances from the different positions on the riveting surface to the intelligent top iron obtained by the distance sensor, and calculates the angle between the intelligent top iron and the axis of the rivet.
In this embodiment, the method for establishing the space curved surface model by the first submodule includes:
establishing a space rectangular coordinate system between the riveting surface and the intelligent top iron, wherein the plane of the contact surface of the intelligent top iron with the rivet is an xoy coordinate surface, and the direction from the intelligent top iron to the riveting surface is a positive z-axis direction;
the distance detection module obtains distances from a plurality of different positions on the riveting surface to the intelligent top iron to obtain a first numerical value;
the first sub-module establishes the space curved surface model according to the first numerical value;
the calculation method of the angle between the working face of the intelligent top iron and the axis of the rivet comprises the following steps:
the distance detection module obtains the distance from the riveting position to the intelligent top iron to obtain a second numerical value;
calculating according to the second numerical value and the space rectangular coordinate system to obtain a coordinate corresponding to the riveting position;
calculating a normal vector of a curved surface where the coordinates are located according to the coordinates and the space curved surface model;
and calculating an included angle between the normal vector and the vector corresponding to the positive direction of the z axis to obtain the angle between the working face of the intelligent top iron and the axis of the rivet.
In an embodiment of the present application, the distance sensor identifies the first through hole, and performs three-dimensional modeling on the first through hole according to distances between the plurality of distance sensors and the first through hole to obtain a simulated through hole, a cylindrical simulated rivet passing through the simulated through hole is obtained through the simulated through hole, an angle range of a working face of the intelligent top iron and an end face of the cylindrical simulated rivet is the same as an angle range of an axis of the intelligent top iron and the angle range of an axis of the rivet in the standard database, and the intelligent top iron is subjected to angle adjustment, so that a deflection angle of the intelligent top iron and the end face of the cylindrical simulated rivet is in a specified angle range.
In an embodiment of the present application, the data acquisition module transmits the acquired data in real time before the distance between the working face and the riveting face of the intelligent top iron meets the requirement in the standard database, the controller determines that the acquired data in real time, if any piece of data does not meet the requirement of the standard database in the current position, the riveting execution module stops riveting, and the alarm guidance module sends an alarm to adjust to meet the requirement of the standard database in the current position.
In an embodiment of the present application, after the distance between the working face and the riveting face of the intelligent top iron meets the requirements in the standard database, the riveting robot performs riveting, returns to the riveting safety distance, and transmits data to the intelligent top iron to inform that current riveting is completed.
In an embodiment of the present application, the standard database stores a range of tightening force applied to the rivet by the working face of the smart top iron required by each area of the riveting face, a range of distance between the working face of the smart top iron and the riveting face, and a range of axis angles between the smart top iron and the rivet.
In an embodiment of the present application, the abnormal alarms include a tightening force abnormal alarm, a distance abnormal alarm and an angle abnormal alarm, the tightening force abnormal alarm further includes a tightening force too high abnormal alarm and a tightening force too low abnormal alarm, the distance abnormal alarm further includes a distance too long abnormal alarm and a distance too short abnormal alarm, and the angle abnormal alarm further includes an angle deviation abnormal alarm according to each angle deviation.
In an embodiment of the present application, before the machine control module makes the first through hole, the machine control module further includes making a pre-hole, the diameter of the pre-hole is smaller than that of the first through hole, the distance sensor identifies the pre-hole, and uses the pre-hole as a center, identifies in a diameter range of the first through hole, and obtains that the riveting surface uses the pre-hole as a center, and sets a threshold, if a difference between the highest point and the lowest point in the diameter range of the first through hole is greater than the threshold, a rivet matched with the pre-hole is used to perform a riveting operation, if a difference between the highest point and the lowest point is not greater than the threshold, and then uses the pre-hole as a center to make the first through hole.
In a second aspect of the present application, there is provided an intelligent riveting method based on human-computer cooperation, including:
manufacturing a first through hole on a part to be riveted, and feeding rivets into the first through hole;
the intelligent top iron is provided with a pressure detection module and a distance detection module, wherein the pressure detection module is used for collecting the jacking force applied by the working face of the intelligent top iron to the rivet, the distance detection module is used for collecting the distance between the working face of the intelligent top iron and the riveting face, and the distance detection module is used for collecting the angle between the intelligent top iron and the axis of the rivet;
the collected tightening force, distance and angle data are sent to a controller, and the controller analyzes whether the collected data accord with the tightening force, distance and angle range required by riveting at the current position according to a standard database;
when one or more data in the collected tightening force, distance and angle data are not in the range of riveting requirements at the current position, an abnormal alarm is sent out, and the tightening force exerted by the working face of the intelligent top iron on the rivet and/or the distance between the working face of the intelligent top iron and the riveting face and/or the angle between the working face of the intelligent top iron and the axis of the rivet are adjusted according to the abnormal alarm;
And when the tightening force, the distance and the angle data are adjusted to be in the range of the riveting requirement of the current position specified in the standard database, the riveting robot performs riveting operation according to the tightening force applied by the working face of the intelligent top iron to the rivet and matching with the corresponding riveting force.
In an embodiment of the present application, the data acquisition module is provided with a first submodule, and the first submodule is used for establishing a simulation model of a space curved surface corresponding to the riveting surface, and calculating an angle between the working surface of the intelligent top iron and the axis of the rivet according to the simulation model of the space curved surface and the riveting position; the pressure detection module is a pressure sensor arranged on the working surface of the intelligent top iron; the distance detection module is a distance sensor arranged on the intelligent top iron.
In the riveting process of the actual aircraft assembly, when the riveting surface where the riveting position is located is a curved surface, the first sub-module establishes the space curved surface model according to the distances from the different positions on the riveting surface to the intelligent top iron obtained by the distance sensor, and calculates the angle between the intelligent top iron and the axis of the rivet.
In this embodiment, the method for establishing the space curved surface model by the first submodule includes:
establishing a space rectangular coordinate system between the riveting surface and the intelligent top iron, wherein the plane of the contact surface of the intelligent top iron with the rivet is an xoy coordinate surface, and the direction from the intelligent top iron to the riveting surface is a positive z-axis direction;
the distance detection module obtains distances from a plurality of different positions on the riveting surface to the intelligent top iron to obtain a first numerical value;
the first sub-module establishes the space curved surface model according to the first numerical value;
the calculation method of the angle between the working face of the intelligent top iron and the axis of the rivet comprises the following steps:
the distance detection module obtains the distance from the riveting position to the intelligent top iron to obtain a second numerical value;
calculating according to the second numerical value and the space rectangular coordinate system to obtain a coordinate corresponding to the riveting position;
calculating a normal vector of a curved surface where the coordinates are located according to the coordinates and the space curved surface model;
and calculating an included angle between the normal vector and the vector corresponding to the positive direction of the z axis to obtain the angle between the working face of the intelligent top iron and the axis of the rivet.
In an embodiment of the present application, the distance sensor identifies the first through hole, and performs three-dimensional modeling on the first through hole according to distances between the plurality of distance sensors and the first through hole to obtain a simulated through hole, a cylindrical simulated rivet passing through the simulated through hole is obtained through the simulated through hole, an angle range of a working face of the intelligent top iron and an end face of the cylindrical simulated rivet is the same as an angle range of an axis of the intelligent top iron and the angle range of an axis of the rivet in the standard database, and the intelligent top iron is subjected to angle adjustment, so that a deflection angle of the intelligent top iron and the end face of the cylindrical simulated rivet is in a specified angle range.
In an embodiment of the present application, the data acquisition module transmits the acquired data in real time before the distance between the working face and the riveting face of the intelligent top iron meets the requirement in the standard database, the controller determines that the acquired data in real time, if any piece of data does not meet the requirement of the standard database in the current position, the riveting execution module stops riveting, and the alarm guidance module sends an alarm to adjust to meet the requirement of the standard database in the current position.
In an embodiment of the present application, after the distance between the working face and the riveting face of the intelligent top iron meets the requirements in the standard database, the riveting robot performs riveting, returns to the riveting safety distance, and transmits data to the intelligent top iron to inform that current riveting is completed.
In an embodiment of the present application, the standard database stores a range of tightening force applied to the rivet by the working face of the smart top iron required by each area of the riveting face, a range of distance between the working face of the smart top iron and the riveting face, and a range of axis angles between the smart top iron and the rivet.
In an embodiment of the present application, the abnormal alarms include a tightening force abnormal alarm, a distance abnormal alarm and an angle abnormal alarm, the tightening force abnormal alarm further includes a tightening force too high abnormal alarm and a tightening force too low abnormal alarm, the distance abnormal alarm further includes a distance too long abnormal alarm and a distance too short abnormal alarm, and the angle abnormal alarm further includes an angle deviation abnormal alarm according to each angle deviation.
In an embodiment of the present application, before the machine control module makes the first through hole, the machine control module further includes making a pre-hole, the diameter of the pre-hole is smaller than that of the first through hole, the distance sensor identifies the pre-hole, and uses the pre-hole as a center, identifies in a diameter range of the first through hole, and obtains that the riveting surface uses the pre-hole as a center, and sets a threshold, if a difference between the highest point and the lowest point in the diameter range of the first through hole is greater than the threshold, a rivet matched with the pre-hole is used to perform a riveting operation, if a difference between the highest point and the lowest point is not greater than the threshold, and then uses the pre-hole as a center to make the first through hole.
The application has the following beneficial effects:
in the embodiment of the application, a pressure detection module and a distance detection module are arranged on a top iron, so that the top iron can measure the pressure and the distance of the intelligent top iron, the intelligent top iron detects the tightening force applied by the working face of the intelligent top iron to the rivet through the pressure detection module, the distance detection module detects the distance between the working face of the intelligent top iron and the riveting face, the distance detection module also detects the angle between the intelligent top iron and the axis of the rivet, three data jointly determine the riveting quality of a part, the three data are uploaded to a controller, the controller analyzes whether the acquired data are in a quality requirement range according to a standard database, if the data are not in the quality requirement range, the corresponding data are adjusted, and when the three data are all in the requirement range, a riveting robot is controlled to perform riveting operation through matching the corresponding riveting force through the tightening force, in the application, the angle adjustment can be performed according to the angle between the working face of the intelligent top iron and the axis of the rivet, and then the riveting operation is performed when the axis of the top iron and the rivet is in a proper angle range;
Meanwhile, because the aircraft structure has a plurality of places with narrow spaces, the riveting quality is difficult to guarantee due to the limitation of visual field and movable range, the workload of operators is increased, and the riveting efficiency is reduced, in the embodiment of the application, through the arrangement of the alarm guiding module, the operators can adjust the jacking force, the distance and the angle with the axis of the rivet of the intelligent top iron according to alarm prompt contents, and do not need to look over the position of the top iron through naked eyes, so the operators do not need to be on one side of the intelligent top iron, and adjust the jacking force, the distance and the angle with the axis of the rivet according to the alarm prompt contents through the handheld intelligent top iron, so that the intelligent top iron and the riveting robot are well cooperated under the conditions of narrow and serious shielding to perform the riveting operation, the system has the advantages of adapting to the narrow space and shielding serious riveting environment, provides a new method for aviation assembly and manufacture, and has important significance for improving the aviation manufacturing level of China.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic diagram of a riveting structure of a robot and a top iron according to an embodiment of the present application.
Fig. 2 is a schematic diagram showing the occurrence of offset of the top iron in the embodiment of the present application.
Fig. 3 is a structural diagram of a riveting flow according to an embodiment of the present application.
Fig. 4 is a schematic block diagram of an intelligent riveting control system based on man-machine cooperation according to an embodiment of the present application.
Fig. 5 is a schematic flow chart of an intelligent riveting method based on man-machine cooperation according to an embodiment of the present application.
Reference numerals: 1-riveting robot, 2-parts, 3-rivets, 4-distance sensors, 5-pressure sensors and 6-intelligent top iron.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be apparent that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The following further describes the aspects of the present application with reference to the accompanying drawings.
Referring to fig. 4, an embodiment of the present application provides an intelligent riveting control system 100 based on human-computer cooperation, including:
Machine control module 101: manufacturing a first through hole on a part 2 to be riveted, and feeding a rivet 3 into the first through hole;
it should be noted that, referring to fig. 1, riveting is a main connection mode of aircraft assembly, and mainly includes the processes of making a through hole, inserting a rivet 3, and performing riveting. Most parts 2 to be riveted are sheet metal parts 2 and aircraft skins, through manufacturing a through hole between the sheet metal parts 2 and the aircraft skins, placing rivets 3 in the through hole, arranging top irons on one side of the rivets 3, applying jacking force through the top irons, applying riveting force on the other side of the rivets 3 through a riveting robot 1, upsetting rivet 3 rods to form rivet 3 pier heads through the jacking force and axial pressure on two sides of the riveting force, and riveting the sheet metal parts 2 and the aircraft skins through the rivet 3 rods and the rivet 3 pier heads;
the data acquisition module 102: a pressure detection module and a distance detection module are arranged on the intelligent top iron 6, the pressure detection module collects the jacking force applied by the working face of the intelligent top iron 6 to the rivet 3, the distance detection module collects the distance between the working face of the intelligent top iron 6 and the riveting face, and the distance detection module also collects the angle between the intelligent top iron 6 and the axis of the rivet 3;
It should be noted that, the top iron is located at one side of the rivet 3, and provides a tightening force for the rivet 3, the riveting robot 1 matches the corresponding riveting force according to the tightening force, and the tightening force needs to be within a proper pressure range, for example, the tightening force is too small, so that the rivet 3 cannot form the pier head of the rivet 3, for example, the tightening force is too large, and the part 2 may be crushed by the rivet 3; meanwhile, the top iron working surface needs to be in vertical contact with the axis of the rivet 3 as much as possible, if a larger deflection angle exists between the top iron working surface and the axis of the rivet 3, a skewed rivet 3 pier head can be formed, and one side of the first through hole can be subjected to larger pressure in the upsetting process due to the deflection angle so as to damage the part 2; finally, the distance between the working surface of the top iron and the riveting surface needs to be in a proper range, when the distance is too far, the rivet 3 pier head is not easily attached to the riveting surface of the part 2, gaps are generated, when the distance is too near, the rivet 3 pier head is easily too large in size, and the quality requirement is not met;
communication interaction module 103: the collected tightening force, distance and angle data are sent to a controller, and the controller analyzes whether the collected data accord with the tightening force, distance and angle range required by riveting at the current position according to a standard database;
Alarm guidance module 104: when one or more data in the collected tightening force, distance and angle data are not in the range required by riveting at the current position, an abnormal alarm is sent out, and the tightening force applied by the working face of the intelligent top iron 6 to the rivet 3 and/or the distance between the working face of the intelligent top iron 6 and the riveting face and/or the angle between the working face of the intelligent top iron 6 and the axis of the rivet 3 are adjusted according to the abnormal alarm;
it should be noted that, because the tightening force, the distance and the angle are all related to the riveting quality, any one of the three data is not in the range of the current position riveting requirement specified in the standard database, and the three data needs to be adjusted to the range of the current position riveting requirement to perform the next riveting operation;
rivet execution module 105: when the tightening force, the distance and the angle data are adjusted to be in the range of the riveting requirement of the current position specified in the standard database, the riveting robot 1 performs riveting operation according to the tightening force applied by the intelligent top iron 6 to the rivet 3 and matching with the corresponding riveting force.
In this embodiment, a pressure detection module and a distance detection module are disposed on a top iron, so that the top iron can measure pressure and distance of an intelligent top iron 6, the intelligent top iron 6 detects a tightening force applied to the rivet 3 by a working face of the intelligent top iron 6 through the pressure detection module, the distance detection module detects a distance between the working face of the intelligent top iron 6 and a riveting face, the distance detection module also detects an angle between the intelligent top iron 6 and an axis of the rivet 3, the three data together determine riveting quality of the part 2, the three data are uploaded to a controller, the controller analyzes whether the collected data are in a quality requirement range according to a standard database, if the data are not in the requirement range, the controller adjusts the corresponding data, when all the three data are in the requirement range, the riveting robot 1 is controlled to perform riveting operation by matching the corresponding riveting force through the tightening force, in this application, an angle adjustment can be performed between the intelligent top iron 6 and the axis of the rivet 3 according to the angle, and the riveting angle between the top iron and the axis of the rivet 3 is properly performed again;
Meanwhile, because the aircraft structure has a plurality of places with narrow spaces, the riveting quality is difficult to guarantee due to the limitation of visual field and movable range, the workload of operators is increased, and the riveting efficiency is reduced, in the embodiment of the application, through the arrangement of the alarm guiding module 104, the operators can adjust the jacking force, the distance and the angle of the axis of the rivet 3 of the intelligent top iron 6 according to alarm prompt contents, and do not need to check the position of the top iron through naked eyes, so the operators do not need to be located at one side of the intelligent top iron 6, and adjust the jacking force, the distance and the angle of the axis of the rivet 3 according to alarm prompt contents by holding the intelligent top iron 6, so that the intelligent top iron 6 and the riveting robot 1 are well used to mutually cooperate under the conditions of narrow space and serious shielding to perform riveting operation, so that the system has the advantages of adapting to narrow space and shielding serious riveting environment, and provides a new method for aviation assembly and manufacture, and has important significance for improving aviation manufacturing level in China.
As shown in fig. 2, the angle between the working surface of the intelligent top iron 6 and the axis of the rivet 3 specifically includes a direction vector of the angle between the working surface of the intelligent top iron 6 and the axis of the rivet 3. According to the solid geometry, three points which are not on the same straight line, With and without one plane, when all the distance sensors 4 and the contact positions of the rivet 3 and the working surface of the intelligent top iron 6 are not in the same straight line, the direction vector is recorded asWherein->Representing the i-th component,/->And i is a positive integer, n is the number of distance sensors 4, the calculation method of the direction vector is specifically +.>Wherein->For the distance of the ith distance sensor 4 to the riveting position on the riveting surface, +.>For the distance from the ith distance sensor 4 to the contact position of the rivet 3 and the working surface of the intelligent top iron 6, if the rivet 3 is not in contact with the working surface of the intelligent top iron 6, taking the distance from the distance sensor 4 to the intersection point of the central axis extension line of the rivet 3 and the working surface of the intelligent top iron 6>The rivet 3 is a distance from the working face of the intelligent top iron 6 after passing through the through hole on one side of the working face of the intelligent top iron 6.
Since the connection line between the riveting position on the riveting surface, the distance sensor 4 and the contact position of the rivet 3 with the working surface of the intelligent top iron 6 forms a triangle area, when the axis of the rivet 3 is perpendicular to the working surface of the intelligent top iron 6, When the axis of the rivet 3 is equal to 0, the intelligentWhen the working surface of the top iron 6 is not vertical, < >>The value of (2) is not 0, according to +.>The value of (2) is positive or negative, and the position of the intelligent top iron 6 is correspondingly adjusted. For example, when->When the value of (2) is positive, the triangular area is an obtuse triangular area, and the intelligent top iron 6 is required to be moved to approach the corresponding distance sensor 4; when->When the value of (2) is negative, the triangular area is an acute triangular area, and the intelligent top iron 6 should be displaced away from the corresponding distance sensor 4.
Specifically, when all the distance sensors 4 are not all located in the same straight line with the working surface contact position of the intelligent top iron 6, and some of the distance sensors 4 are located in the same straight line with the working surface contact position of the intelligent top iron 6, one of the distance sensors 4 may be selected for calculation, or the angle component corresponding to the direction vector may be calculated by the following method:
the distance sensor 4, which is in the same straight line with the contact position of the distance sensor 4 and the working surface of the intelligent top iron 6, measures the distance from the intelligent top iron 6 to the riveting surface at the same time, and the data acquisition module 102 can calculate the angle α of the axes of the intelligent top iron 6 and the rivet 3, and the specific calculation method is as follows:
Wherein,and->And d is the distance between two distance sensors 4, and is the distance measured by any pair of the distance sensors 4 which is in a straight line with the contact position of the distance sensors 4 and the working surface of the intelligent top iron 6.
Further, a groove can be formed in the contact position of the distance sensor 4 and the working surface of the intelligent top iron 6, the contact position of the rivet 3 and the intelligent top iron 6 is fixed by the groove, the distance from each distance sensor 4 to the groove can be calculated in advance, and the increase of calculation amount caused by uncertainty of the contact position of the rivet 3 and the intelligent top iron 6 is avoided.
In a possible implementation manner, the data acquisition module is provided with a first submodule, and the first submodule is used for establishing a simulation model of a space curved surface corresponding to the riveting surface, and calculating an angle between the working surface of the intelligent top iron and the axis of the rivet according to the simulation model of the space curved surface and the riveting position; the pressure detection module is a pressure sensor arranged on the working surface of the intelligent top iron; the distance detection module is a distance sensor arranged on the intelligent top iron.
It should be noted that, in the riveting process of the actual aircraft assembly, when the riveting surface where the riveting position is located is a curved surface, the first sub-module establishes the space curved surface model according to the distances from the plurality of different positions on the riveting surface to the intelligent top iron 6 acquired by the distance sensor 4, and calculates the angle between the intelligent top iron 6 and the axis of the rivet 3.
In this embodiment, the method for establishing the space curved surface model by the first submodule includes:
establishing a space rectangular coordinate system between the riveting surface and the intelligent top iron, wherein the plane of the contact surface of the intelligent top iron with the rivet is an xoy coordinate surface, and the direction from the intelligent top iron to the riveting surface is a positive z-axis direction;
the distance detection module obtains distances from a plurality of different positions on the riveting surface to the intelligent top iron to obtain a first numerical value;
the first sub-module establishes the space curved surface model according to the first numerical value;
the calculation method of the angle between the working face of the intelligent top iron and the axis of the rivet comprises the following steps:
the distance detection module obtains the distance from the riveting position to the intelligent top iron to obtain a second numerical value;
calculating according to the second numerical value and the space rectangular coordinate system to obtain a coordinate corresponding to the riveting position;
calculating a normal vector of a curved surface where the coordinates are located according to the coordinates and the space curved surface model;
and calculating an included angle between the normal vector and the vector corresponding to the positive direction of the z axis to obtain the angle between the working face of the intelligent top iron and the axis of the rivet.
Since the plane in which the intelligent top iron 6 is located is an xoy coordinate plane, the normal vector of the plane in which the intelligent top iron 6 is located is parallel to the z axis, and the positive direction of the z axis may be the normal vector direction. When the normal vector of the curved surface where the riveting position is located and the included angle of the positive direction of the z-axis are acute angles, the included angle is the angle between the intelligent top iron 6 and the axis of the rivet 3; when the normal vector of the curved surface where the riveting position is located and the included angle of the positive direction of the z-axis are obtuse angles, the complement angle of the included angle is the angle between the intelligent top iron 6 and the axis of the rivet 3.
The method for obtaining the space curved surface model of the aircraft curved surface through scanning the riveted surface by the plurality of distance sensors 4 includes, but is not limited to, a method for measuring the distances of the points of the riveted surface by the distance sensors 4 and a method for acquiring the fitting of the extreme points of the riveted surface by the distance sensors 4.
The coordinates corresponding to the riveting positions can be the coordinates of the center point of the hole 3 of the rivet.
The average curvature of the riveting position can be calculated, and the rivet 3 matched with different model parameters can be performed according to the bending degree. The data acquisition module compares the average curvature of the riveting surface where the riveting position is located with the standard range of the standard database, and matches the proper rivet 3 model. For example, when the average curvature is smaller, the bending degree of the riveting surface where the riveting position is located is lower, and the rivet 3 with larger matching size is matched; when the average curvature is smaller, the bending degree of the riveting surface where the riveting position is located is larger, and the rivet 3 with smaller size is selected, so that the situation that the rivet 3 is difficult to be attached to the riveting surface due to the overlarge bending degree of the riveting surface is avoided, the riveting is unstable, and the specific rivet type can be determined according to the riveting standard.
In the present embodiment, when the caulking surface area of the component 2 is a plane, the angular offset value between the smart top iron 6 and the axis of the rivet 3 is obtained by the distance difference between the plurality of pairs of the distance sensors 4 and the caulking surface, and the distance between the distance sensors 4By again passing through said->Adjusting the angle deviation value of the intelligent top iron 6 and the axis of the rivet 3>The angle range in the standard database is met, so that the angle between the intelligent top iron 6 and the axis of the rivet 3 meets the requirement.
In this embodiment, the shank of the rivet 3 is generally cylindrical, but the end has various shapes, including circular, conical or irregular shapes, and when the rivet is riveted on a plane, the distance between the pair of distance sensors 4 is obtained, and the distance between the pair of distance sensors 4 and the riveting surface is obtained respectively, so that the angle offset value between the intelligent top iron 6 and the axis of the rivet 3 is calculated, and the rivet 3 is not involved in calculation, so that the method can be applied to the rivet 3 with any end shape, and the application range is enlarged.
In a possible implementation manner, the distance sensor 4 identifies the first through hole, performs three-dimensional modeling on the first through hole according to the distances between the distance sensors 4 and the first through hole to obtain a simulated through hole, obtains a cylindrical simulated rivet 3 penetrating through the simulated through hole, and performs angle adjustment on the intelligent top iron 6 in a specified angle range with respect to the deflection angle between the intelligent top iron 6 and the end face of the cylindrical simulated rivet 3, wherein the angle range between the working face of the intelligent top iron 6 and the end face of the cylindrical simulated rivet 3 is the same as the angle range between the working face of the intelligent top iron 6 and the axis of the rivet 3 in the standard database.
Since the curved surface is riveted and the heights of the rivet surfaces are different, a larger error occurs in calculating the deflection angle by using the previous method, in this embodiment, the deflection angle of the end surface of the intelligent top iron 6 and the end surface of the cylindrical simulated rivet 3 is calculated by considering the shape variability of the aircraft part 2, and in this embodiment, the deflection angle of the end surface of the intelligent top iron 6 and the end surface of the cylindrical simulated rivet 3 is also calculated by considering the distance from the distance sensor 4 to the end surface of the cylindrical simulated rivet 3, and when the end surface is not planar, the deflection angle of the end surface of the intelligent top iron 6 and the end surface of the cylindrical simulated rivet 3 is difficult to determine by determining the deflection angle of the end surface of the intelligent top iron 6 and the end surface of the cylindrical simulated rivet 3 according to the end surface of the rivet 3, in this embodiment, the distance sensor 4 is used for three-dimensionally modeling the first through hole to obtain the simulated through hole and the cylindrical simulated rivet 3, the deflection angle of the end surface of the intelligent top iron 6 and the end surface of the cylindrical simulated rivet 3 is also used for angular adjustment, and the rivet can be reduced by reducing the deflection angle of the curved surface radian, and the rivet position of the aircraft can be further narrowed.
In a possible implementation manner, as shown in fig. 3, before the distance between the working surface and the riveting surface of the intelligent top iron 6 meets the requirement in the standard database, the data acquisition module transmits the acquired data in real time, the controller determines that the acquired data in real time, if any piece of data does not meet the requirement of the standard database in the current position, the riveting execution module stops riveting, and the alarm guidance module sends an alarm to adjust to meet the requirement of the standard database in the current position.
In a possible implementation manner, the data acquisition module transmits data to the intelligent top iron 6 to inform that the current riveting is completed after the distance between the working surface and the riveting surface of the intelligent top iron 6 meets the requirements in the standard database, the riveting robot 1 completes the riveting and returns to the riveting safety distance.
In this embodiment, the data acquisition module transmits the acquired data in real time before the distance between the working face of the intelligent top iron 6 and the riveting face meets the requirement in the standard database, that is, before the riveting is completed, the controller determines the acquired data in real time, if any item of data does not meet the requirement of the standard database in the current position in the riveting process, the riveting is stopped, and after the adjustment is met, the riveting is performed, so that the pressure, the distance and the angle in the whole riveting process are all in the requirement of the standard database in the current position, and the riveting quality is effectively improved; further, after the riveting is completed, the riveting robot 1 returns to the riveting safety distance, then transmits data to the intelligent top iron 6 to inform that the current riveting is completed, so that the safety of operators is ensured, and meanwhile, the operators do not need to enter a narrow space, and the riveting completion message can be obtained without observing the riveting pier head.
In a possible embodiment, the standard database stores the range of the tightening force applied to the rivet 3 by the working face of the smart top iron 6 required by each area of the riveting face, the range of the distance between the working face of the smart top iron 6 and the riveting face, and the range of the axis angle between the smart top iron 6 and the rivet 3.
In one possible embodiment, the anomaly alarms include a tightening force anomaly alarm, a distance anomaly alarm, and an angle anomaly alarm, the tightening force anomaly alarm further including a tightening force too high anomaly alarm and a tightening force too low anomaly alarm, the distance anomaly alarm further including a distance too long anomaly alarm and a distance too short anomaly alarm, the angle anomaly alarm further including an angle shift anomaly alarm according to each angle shift.
In this embodiment, the aircraft area is larger, the rivet 3 size, the tightening force, the distance and the angle range requirements required by each area are different, the range requirements of each area are stored respectively, different range requirements are used for riveting operation in different areas, so that the riveting quality is better, further, the abnormal alarms are divided into a plurality of types according to different data, an operator carries out different adjustment operations according to different alarms, for example, knows that the tightening force is too high, the operator reduces the tightening force applied to the intelligent top iron 6, and the operator can adjust the intelligent top iron 6 more conveniently.
In a possible implementation manner, before the machine control module makes the first through hole, making a pre-through hole, wherein the diameter of the pre-through hole is smaller than that of the first through hole, the distance sensor 4 identifies the pre-through hole and takes the pre-through hole as a center, the range of the diameter of the first through hole is identified, the riveting surface is obtained, taking the pre-through hole as the center, the highest point and the lowest point in the range of the diameter of the first through hole are set, a threshold value is set, if the difference value between the highest point and the lowest point is larger than the threshold value, the rivet 3 matched with the pre-through hole is used for riveting operation, and if the difference value between the highest point and the lowest point is not larger than the threshold value, the first through hole is made with the pre-through hole as the center.
It should be noted that, when the curvature of the riveting surface is too large, the height difference between the highest point and the lowest point in the diameter range of the first through hole may make it difficult for the formed riveting pier to cover the first through hole, and even if the distance between the top iron and the lowest point is too far, even if the angle between the intelligent top iron 6 and the axis of the rivet 3 is within the specified range, the riveting pier may not be formed;
In this embodiment, before the machine control module makes the first through hole, the machine control module further includes making a pre-through hole, the diameter of the pre-through hole is smaller than that of the first through hole, the diameter of the pre-through hole is matched with the currently available minimum size rivet 3, the distance sensor 4 is used for centering the pre-through hole, determining the lowest point and the highest point in the range of the first through hole, if the difference between the highest point and the lowest point is greater than a threshold value, the rivet 3 matched with the pre-through hole is used for riveting operation, because the diameter of the pre-through hole is smaller, the difference between the high point and the low point in the range of the pre-through hole is smaller, the rivet 3 is easier to form a qualified rivet 3 pier, if the difference between the highest point and the lowest point is not greater than the threshold value, the pre-through hole is used as a center, that is to say, the pre-through hole is made once more before the first through hole is made, and the position of the pre-through hole is prevented from being made, and the quality of a qualified pier 2 cannot be formed due to overlarge radian difference.
Referring to fig. 5, in a second aspect of the present application, there is provided an intelligent riveting method based on human-computer cooperation, including:
S201: manufacturing a first through hole on a part 2 to be riveted, and feeding a rivet 3 into the first through hole;
s202: a pressure detection module and a distance detection module are arranged on the intelligent top iron 6, the pressure detection module collects the jacking force applied by the working face of the intelligent top iron 6 to the rivet 3, the distance detection module collects the distance between the working face of the intelligent top iron 6 and the riveting face, and the distance detection module also collects the angle between the intelligent top iron 6 and the axis of the rivet 3;
s203: the collected tightening force, distance and angle data are sent to a controller, and the controller analyzes whether the collected data accord with the tightening force, distance and angle range required by riveting at the current position according to a standard database;
s204: when one or more data in the collected tightening force, distance and angle data are not in the range required by riveting at the current position, an abnormal alarm is sent out, and the tightening force applied by the working face of the intelligent top iron 6 to the rivet 3 and/or the distance between the working face of the intelligent top iron 6 and the riveting face and/or the angle between the working face of the intelligent top iron 6 and the axis of the rivet 3 are adjusted according to the abnormal alarm;
S205: when the tightening force, the distance and the angle data are adjusted to be in the range of the riveting requirement of the current position specified in the standard database, the riveting robot 1 performs riveting operation according to the tightening force applied by the intelligent top iron 6 to the rivet 3 and matching with the corresponding riveting force.
In a possible implementation manner, the data acquisition module is provided with a first submodule, and the first submodule is used for establishing a simulation model of a space curved surface corresponding to the riveting surface, and calculating an angle between the working surface of the intelligent top iron and the axis of the rivet according to the simulation model of the space curved surface and the riveting position; the pressure detection module is a pressure sensor arranged on the working surface of the intelligent top iron; the distance detection module is a distance sensor arranged on the intelligent top iron.
It should be noted that, in the riveting process of the actual aircraft assembly, when the riveting surface where the riveting position is located is a curved surface, the first sub-module establishes the space curved surface model according to the distances from the plurality of different positions on the riveting surface to the intelligent top iron 6 acquired by the distance sensor 4, and calculates the angle between the intelligent top iron 6 and the axis of the rivet 3.
In this embodiment, the method for establishing the space curved surface model by the first submodule includes:
establishing a space rectangular coordinate system between the riveting surface and the intelligent top iron, wherein the plane of the contact surface of the intelligent top iron with the rivet is an xoy coordinate surface, and the direction from the intelligent top iron to the riveting surface is a positive z-axis direction;
the distance detection module obtains distances from a plurality of different positions on the riveting surface to the intelligent top iron to obtain a first numerical value;
the first sub-module establishes the space curved surface model according to the first numerical value;
the calculation method of the angle between the working face of the intelligent top iron and the axis of the rivet comprises the following steps:
the distance detection module obtains the distance from the riveting position to the intelligent top iron to obtain a second numerical value;
calculating according to the second numerical value and the space rectangular coordinate system to obtain a coordinate corresponding to the riveting position;
calculating a normal vector of a curved surface where the coordinates are located according to the coordinates and the space curved surface model;
and calculating an included angle between the normal vector and the vector corresponding to the positive direction of the z axis to obtain the angle between the working face of the intelligent top iron and the axis of the rivet.
In a possible implementation manner, the distance sensor 4 identifies the first through hole, performs three-dimensional modeling on the first through hole according to the distances between the distance sensors 4 and the first through hole to obtain a simulated through hole, obtains a cylindrical simulated rivet 3 penetrating through the simulated through hole, and performs angle adjustment on the intelligent top iron 6 in a specified angle range with respect to the deflection angle between the intelligent top iron 6 and the end face of the cylindrical simulated rivet 3, wherein the angle range between the working face of the intelligent top iron 6 and the end face of the cylindrical simulated rivet 3 is the same as the angle range between the working face of the intelligent top iron 6 and the axis of the rivet 3 in the standard database.
In a possible implementation manner, the data acquisition module transmits the acquired data in real time before the distance between the working face and the riveting face of the intelligent top iron 6 meets the requirements in the standard database, the controller judges the acquired data in real time, if any piece of data does not meet the requirements of the standard database in the current position, the riveting execution module stops riveting, and the alarm guidance module sends an alarm to adjust the alarm to meet the requirements of the standard database in the current position.
In a possible implementation manner, the data acquisition module transmits data to the intelligent top iron 6 to inform that the current riveting is completed after the distance between the working surface and the riveting surface of the intelligent top iron 6 meets the requirements in the standard database, the riveting robot 1 completes the riveting and returns to the riveting safety distance.
In a possible embodiment, the standard database stores the range of the tightening force applied to the rivet 3 by the working face of the smart top iron 6 required by each area of the riveting face, the range of the distance between the working face of the smart top iron 6 and the riveting face, and the range of the axis angle between the smart top iron 6 and the rivet 3.
In one possible embodiment, the anomaly alarms include a tightening force anomaly alarm, a distance anomaly alarm, and an angle anomaly alarm, the tightening force anomaly alarm further including a tightening force too high anomaly alarm and a tightening force too low anomaly alarm, the distance anomaly alarm further including a distance too long anomaly alarm and a distance too short anomaly alarm, the angle anomaly alarm further including an angle shift anomaly alarm according to each angle shift.
In a possible implementation manner, before the machine control module makes the first through hole, making a pre-through hole, wherein the diameter of the pre-through hole is smaller than that of the first through hole, the distance sensor 4 identifies the pre-through hole and takes the pre-through hole as a center, the range of the diameter of the first through hole is identified, the riveting surface is obtained, taking the pre-through hole as the center, the highest point and the lowest point in the range of the diameter of the first through hole are set, a threshold value is set, if the difference value between the highest point and the lowest point is larger than the threshold value, the rivet 3 matched with the pre-through hole is used for riveting operation, and if the difference value between the highest point and the lowest point is not larger than the threshold value, the first through hole is made with the pre-through hole as the center.
It should be noted that, a specific implementation manner of the intelligent riveting control system based on man-machine cooperation according to the first aspect of the embodiment of the present application is provided with reference to the specific implementation manner of the intelligent riveting control system based on man-machine cooperation according to the first aspect of the embodiment of the present application, and will not be described herein again.
In a third aspect of the present application, there is provided a riveting control electronic device comprising a processor and a memory; the memory is used for storing a computer program, and when the processor executes the computer program, the electronic device is caused to execute the specific implementation of the intelligent riveting method based on man-machine cooperation.
In a fourth method of the present application, a riveting control readable storage medium is provided, and a program or an instruction is stored on the readable storage medium, where the program or the instruction is executed by a processor to implement each process of the foregoing embodiment of the present application, which is a specific implementation of an intelligent riveting method based on man-machine cooperation.
In some embodiments, the computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above memories. The computer may be a variety of computing devices including smart terminals and servers.
In some embodiments, the executable instructions may be in the form of programs, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.
As an example, the executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a hypertext markup language (HTML, hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
As an example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or, alternatively, distributed across multiple sites and interconnected by a communication network.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in an article or apparatus that comprises the element.
The above describes in detail the provided intelligent riveting control system and riveting method based on man-machine cooperation, and specific examples are applied to explain the principles and implementation modes of the present application, and the description of the above examples is only used for helping to understand the information pushing method for the blockchain network and the core ideas thereof; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the contents of the present specification should not be construed as limiting the present application in summary.
Claims (10)
1. An intelligent riveting control system based on man-machine cooperation, which is characterized by comprising:
A machine control module: the machine control module is used for manufacturing a first through hole on a part to be riveted and feeding rivets into the first through hole;
and a data acquisition module: the intelligent top iron is provided with a pressure detection module and a distance detection module, wherein the pressure detection module is used for collecting the jacking force applied by the working face of the intelligent top iron to the rivet, the distance detection module is used for collecting the distance between the working face of the intelligent top iron and the riveting face, and the distance detection module is used for collecting the angle between the intelligent top iron and the axis of the rivet;
and a communication interaction module: the collected tightening force, distance and angle data are sent to a controller, and the controller analyzes whether the collected data accord with the tightening force, distance and angle range required by riveting at the current position according to a standard database;
an alarm guidance module: when one or more data in the collected tightening force, distance and angle data are not in the range of riveting requirements at the current position, an abnormal alarm is sent out, and the tightening force exerted by the working face of the intelligent top iron on the rivet and/or the distance between the working face of the intelligent top iron and the riveting face and/or the angle between the working face of the intelligent top iron and the axis of the rivet are adjusted according to the abnormal alarm;
And a riveting execution module: and when the tightening force, the distance and the angle data are adjusted to be in the range of the riveting requirement of the current position specified in the standard database, the riveting robot performs riveting operation according to the tightening force applied by the working face of the intelligent top iron to the rivet and matching with the corresponding riveting force.
2. The intelligent riveting control system based on man-machine cooperation as claimed in claim 1, wherein the data acquisition module is provided with a first sub-module, the first sub-module is used for establishing a simulation model of a space curved surface corresponding to a riveting surface, and calculating an angle between a working surface of the intelligent top iron and an axis of a rivet according to the simulation model of the space curved surface and the riveting position; the pressure detection module is a pressure sensor arranged on the working surface of the intelligent top iron; the distance detection module is a distance sensor arranged on the intelligent top iron.
3. The intelligent riveting control system based on human-computer collaboration as claimed in claim 2, wherein the method for establishing the space curved surface model by the first submodule comprises:
establishing a space rectangular coordinate system between the riveting surface and the intelligent top iron, wherein the plane of the contact surface of the intelligent top iron with the rivet is an xoy coordinate surface, and the direction from the intelligent top iron to the riveting surface is a positive z-axis direction;
The distance detection module obtains distances from a plurality of different positions on the riveting surface to the intelligent top iron to obtain a first numerical value;
the first sub-module establishes the space curved surface model according to the first numerical value;
the calculation method of the angle between the working face of the intelligent top iron and the axis of the rivet comprises the following steps:
the distance detection module obtains the distance from the riveting position to the intelligent top iron to obtain a second numerical value;
calculating according to the second numerical value and the space rectangular coordinate system to obtain a coordinate corresponding to the riveting position;
calculating a normal vector of a curved surface where the coordinates are located according to the coordinates and the space curved surface model;
and calculating an included angle between the normal vector and the vector corresponding to the positive direction of the z axis to obtain the angle between the working face of the intelligent top iron and the axis of the rivet.
4. The intelligent riveting control system based on man-machine cooperation as claimed in claim 3, wherein the distance sensor identifies the first through hole, and performs three-dimensional modeling on the first through hole according to distances between a plurality of distance sensors and the first through hole to obtain a simulation through hole, a cylindrical simulation rivet penetrating through the simulation through hole is obtained through the simulation through hole, an angle range of a working face of the intelligent top iron and an end face of the cylindrical simulation rivet is the same as an angle range of an axis of the intelligent top iron and an axis of the rivet in the standard database, and the intelligent top iron is subjected to angle adjustment to enable a deflection angle of the intelligent top iron and the end face of the cylindrical simulation rivet to be in a specified angle range.
5. The intelligent riveting control system based on man-machine cooperation according to any one of claims 1-4, wherein the data acquisition module transmits the acquired data in real time before the distance between the working surface of the intelligent top iron and the riveting surface meets the requirements in the standard database, the controller judges that the acquired data in real time, if any piece of data does not meet the requirements of the standard database in the current position, the riveting execution module stops riveting, and the alarm guidance module sends an alarm to adjust to meet the requirements of the standard database in the current position.
6. The intelligent riveting control system based on man-machine cooperation according to claim 5, wherein the data acquisition module informs the current completion of riveting by transmitting data to the intelligent top iron after the distance between the working surface and the riveting surface of the intelligent top iron meets the requirements in the standard database and the riveting robot completes riveting and returns to a riveting safety distance.
7. An intelligent riveting control system based on human-computer collaboration as in any one of claims 1-4 wherein the standard database stores the range of the tightening force required by the working surface of the intelligent top iron to apply to the rivet, the range of the working surface-to-riveting surface distance of the intelligent top iron, and the range of the axis angle of the intelligent top iron to the rivet.
8. The intelligent riveting control system based on human-machine collaboration as in any one of claims 1-4 wherein the anomaly alarms comprise a tightening force anomaly alarm, a distance anomaly alarm, and an angle anomaly alarm, the tightening force anomaly alarm further comprising a tightening force too high anomaly alarm and a tightening force too low anomaly alarm, the distance anomaly alarm further comprising a distance too long anomaly alarm and a distance too short anomaly alarm, the angle anomaly alarm further comprising an angle offset anomaly alarm according to each angle offset.
9. The intelligent riveting control system based on man-machine cooperation according to claim 4, wherein the machine control module further comprises a front through hole before manufacturing the first through hole, the diameter of the front through hole is smaller than that of the first through hole, the distance sensor identifies the front through hole, the front through hole is taken as a center, identification is carried out in the diameter range of the first through hole, the highest point and the lowest point of the riveting surface in the diameter range of the first through hole are obtained, the front through hole is taken as the center, a threshold value is set, if the difference value between the highest point and the lowest point is larger than the threshold value, riveting operation is carried out by using rivets matched with the front through hole, and if the difference value between the highest point and the lowest point is not larger than the threshold value, the first through hole is manufactured by taking the front through hole as the center.
10. An intelligent riveting method based on man-machine cooperation is characterized by comprising the following steps:
manufacturing a first through hole on a part to be riveted, and feeding rivets into the first through hole;
the intelligent top iron is provided with a pressure detection module and a distance detection module, wherein the pressure detection module is used for collecting the jacking force applied by the working face of the intelligent top iron to the rivet, the distance detection module is used for collecting the distance between the working face of the intelligent top iron and the riveting face, and the distance detection module is used for collecting the angle between the intelligent top iron and the axis of the rivet;
the collected tightening force, distance and angle data are sent to a controller, and the controller analyzes whether the collected data accord with the tightening force, distance and angle range required by riveting at the current position according to a standard database;
when one or more data in the collected tightening force, distance and angle data are not in the range of riveting requirements at the current position, an abnormal alarm is sent out, and the tightening force exerted by the working face of the intelligent top iron on the rivet and/or the distance between the working face of the intelligent top iron and the riveting face and/or the angle between the working face of the intelligent top iron and the axis of the rivet are adjusted according to the abnormal alarm;
And when the tightening force, the distance and the angle data are adjusted to be in the range of the riveting requirement of the current position specified in the standard database, the riveting robot performs riveting operation according to the tightening force applied by the working face of the intelligent top iron to the rivet and matching with the corresponding riveting force.
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| CN117531948A (en) * | 2024-01-10 | 2024-02-09 | 南京航空航天大学 | Man-machine cooperation riveting system and cooperation riveting method |
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